Path planning method of intelligent scraper

The invention relates to the field of path planning, in particular to a path planning method of an intelligent scraper. The path planning problem of the intelligent scraper is solved. The path planning method designs a new temporary target point selection rule based on a RRT algorithm, so that a random tree preferentially grows towards a final target point, and the step size can be adaptively adjusted, so that a path as short as possible is obtained on the premise of avoiding obstacles. Considering the constraints of the intelligent scraper, the minimum turning radius and the minimum safe distance constraints are designed, and the planned path is smoothed. The improved RRT algorithm can effectively generate the feasible path of the intelligent scraper, the known obstacles are avoided, thepath is planned to reduce the path length, the path twists and turns are avoided, and a certain distance is always kept from the obstacles. The path planning method is suitable for path planning of the intelligent scraper and